US20220229449A1 - Managing a fleet of autonomous vehicles based on collected information - Google Patents

Managing a fleet of autonomous vehicles based on collected information Download PDF

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Publication number
US20220229449A1
US20220229449A1 US17/151,057 US202117151057A US2022229449A1 US 20220229449 A1 US20220229449 A1 US 20220229449A1 US 202117151057 A US202117151057 A US 202117151057A US 2022229449 A1 US2022229449 A1 US 2022229449A1
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United States
Prior art keywords
restricted area
general
autonomous vehicles
specific
fleet
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Pending
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US17/151,057
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English (en)
Inventor
Bernardo Malta Leite Telles
Reinaldo Negron, JR.
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Wing Aviation LLC
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Wing Aviation LLC
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Priority to US17/151,057 priority Critical patent/US20220229449A1/en
Assigned to WING AVIATION LLC reassignment WING AVIATION LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NEGRON, Reinaldo, Jr., TELLES, BERNARDO MALTA LEITE
Priority to AU2021419496A priority patent/AU2021419496A1/en
Priority to PCT/US2021/063902 priority patent/WO2022154935A1/en
Priority to EP21848215.6A priority patent/EP4252221A1/en
Priority to CN202180090651.2A priority patent/CN116724346A/zh
Publication of US20220229449A1 publication Critical patent/US20220229449A1/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
    • G08G5/025—Navigation or guidance aids
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • B64C2201/143—
    • B64C2201/18—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries

Definitions

  • UAV 100 may control the direction and/or speed of its movement by controlling its pitch, roll, yaw, and/or altitude.
  • the stabilizers 102 may include one or more rudders 104 for controlling the UAV's yaw
  • wing assembly 124 may include elevators for controlling the UAV's pitch and/or ailerons 110 for controlling the UAV's roll.
  • increasing or decreasing the speed of all the propellers simultaneously can result in UAV 100 increasing or decreasing its altitude, respectively.
  • the UAV 100 may also include components for sensing the environment around the UAV 100 , including but not limited to audio sensor 122 and audio sensor 114 . Further examples of sensor devices are illustrated in FIG. 3 and described below.
  • the sensor devices 304 include one or more vehicle state sensor devices that are configured to detect states of various components of the autonomous vehicle 300 , and to transmit signals representing those states to other components of the autonomous vehicle 300 .
  • Some non-limiting examples of such sensor devices 304 include a battery state sensor, a propulsion device health sensor, an accelerometer, and an attitude sensor.
  • the sensor devices 304 include one or more environmental sensor devices that are configured to detect information regarding the environment of the autonomous vehicle 300 .
  • Some non-limiting examples of such sensor devices 304 include visible light cameras, infrared cameras, LIDAR sensor devices, RADAR sensor devices, SONAR sensor devices, temperature sensors, altimeters, barometers, and positioning sensor devices (including but not limited to global navigation satellite system (GNSS) sensors).
  • GNSS global navigation satellite system
  • data store refers to any suitable device configured to store data for access by a computing device.
  • a data store is a highly reliable, high-speed relational database management system (DBMS) executing on one or more computing devices and accessible over a high-speed network.
  • DBMS relational database management system
  • Another example of a data store is a key-value store.
  • any other suitable storage technique and/or device capable of quickly and reliably providing the stored data in response to queries may be used, and the computing device may be accessible locally instead of over a network, or may be provided as a cloud-based service.
  • a data store may also include data stored in an organized manner on a computer-readable storage medium, such as a hard disk drive, a flash memory, RAM, ROM, or any other type of computer-readable storage medium.
  • a computer-readable storage medium such as a hard disk drive, a flash memory, RAM, ROM, or any other type of computer-readable storage medium.
  • the procedure 700 illustrated in FIG. 7 is merely an example of a technique for collecting information associated with a general restricted area, and that some embodiments of the present disclosure may use different techniques.
  • the information collection engine 418 may query a data store to retrieve aerial imagery or other environmental sensor data of the general restricted area that has previously been collected. Further, as discussed above, other types of information may be retrieved from other types of data stores.
  • a similar technique may be used to transmit other types of commands to an autonomous vehicle 300 within an area specified via the techniques described above, including but not limited to only allowing the autonomous vehicle 300 within the restricted area to accept certain types of new autonomous missions (e.g., autonomous vehicles 300 within a disaster area only accepting disaster-recovery related missions).

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Emergency Management (AREA)
  • Traffic Control Systems (AREA)
US17/151,057 2021-01-15 2021-01-15 Managing a fleet of autonomous vehicles based on collected information Pending US20220229449A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US17/151,057 US20220229449A1 (en) 2021-01-15 2021-01-15 Managing a fleet of autonomous vehicles based on collected information
AU2021419496A AU2021419496A1 (en) 2021-01-15 2021-12-16 Managing a fleet of autonomous vehicles based on collected information
PCT/US2021/063902 WO2022154935A1 (en) 2021-01-15 2021-12-16 Managing a fleet of autonomous vehicles based on collected information
EP21848215.6A EP4252221A1 (en) 2021-01-15 2021-12-16 Managing a fleet of autonomous vehicles based on collected information
CN202180090651.2A CN116724346A (zh) 2021-01-15 2021-12-16 基于收集的信息管理自主交通工具的机队

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US17/151,057 US20220229449A1 (en) 2021-01-15 2021-01-15 Managing a fleet of autonomous vehicles based on collected information

Publications (1)

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US20220229449A1 true US20220229449A1 (en) 2022-07-21

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US17/151,057 Pending US20220229449A1 (en) 2021-01-15 2021-01-15 Managing a fleet of autonomous vehicles based on collected information

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US (1) US20220229449A1 (zh)
EP (1) EP4252221A1 (zh)
CN (1) CN116724346A (zh)
AU (1) AU2021419496A1 (zh)
WO (1) WO2022154935A1 (zh)

Citations (12)

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US20160225264A1 (en) * 2015-01-29 2016-08-04 Qualcomm Incorporated Systems and Methods for Restricting Drone Airspace Access
US20160240087A1 (en) * 2015-02-12 2016-08-18 Aerobotic Innovations, LLC System and method of preventing and remedying restricted area intrusions by unmanned aerial vehicles
US20160299506A1 (en) * 2013-12-04 2016-10-13 Spatial Information Systems Research Limited Method and apparatus for developing a flight path
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US20090210109A1 (en) * 2008-01-14 2009-08-20 Donald Lewis Ravenscroft Computing Flight Plans for UAVs While Routing Around Obstacles Having Spatial and Temporal Dimensions
US20160299506A1 (en) * 2013-12-04 2016-10-13 Spatial Information Systems Research Limited Method and apparatus for developing a flight path
US20160225264A1 (en) * 2015-01-29 2016-08-04 Qualcomm Incorporated Systems and Methods for Restricting Drone Airspace Access
US20160240087A1 (en) * 2015-02-12 2016-08-18 Aerobotic Innovations, LLC System and method of preventing and remedying restricted area intrusions by unmanned aerial vehicles
CN107409174A (zh) * 2015-03-31 2017-11-28 深圳市大疆创新科技有限公司 用于管制无人飞行器操作的系统和方法
US10733895B2 (en) * 2015-03-31 2020-08-04 SZ DJI Technology Co., Ltd. Open platform for flight restricted region
JP2017062723A (ja) * 2015-09-25 2017-03-30 東京電力ホールディングス株式会社 航空路、航空路算出装置及び航空路算出方法
US20190114925A1 (en) * 2015-11-17 2019-04-18 SZ DJI Technology Co., Ltd. Systems and methods for managing flight-restriction regions
CN108089591A (zh) * 2016-11-22 2018-05-29 菜鸟智能物流控股有限公司 区域安全系数的标定及其航线规划、飞行方法和相关设备
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US20200409375A1 (en) * 2019-06-29 2020-12-31 Gm Cruise Holdings Llc Systems and methods for overlap-aware ranking of navigation avoidance areas for autonomous vehicles

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Publication number Publication date
EP4252221A1 (en) 2023-10-04
CN116724346A (zh) 2023-09-08
AU2021419496A1 (en) 2023-07-20
WO2022154935A1 (en) 2022-07-21

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